Replacement Of Motor, Axis 6, Irb 6640 - ABB IRB 6640 Product Manual

4 Repair

4.6.7. Replacement of motor, axis 6, IRB 6640

4.6.7. Replacement of motor, axis 6, IRB 6640
Replacement of motor axis 6 for Foundry Prime
For replacement of motor axis 6 on robots with option Foundry Prime, see Replacement of
motor axis 6 - Option Foundry Prime, 3HAC037959-013 (available on ABB Library).
Location of motor
The motor axis 6 is located in the center of the wrist unit as shown in the figure below.
A more detailed view of the component and its position may be found in chapter
including wrist unit, motors ax. 3- 6 (IRB 6640 and IRB 6640ID)
xx0700000126
A
B
C
Required equipment
Equipment, etc.
Motor including pinion
O-ring
Gasket
Gasket, cover
Removal tool, motor
M10x
Extension 300mm for
bits 1/2"
Guide pins M8 x 100
Guide pins M8 x 150
354
Gearbox, axis 6
Motor, axis 6
Attachment screws (4 pcs)
Spare part no.
See Spare parts
21522012-430
3HAC033206-001
3HAC033489-001
.
Art. no. Note
Includes:
• motor
• pinion
• o-ring 21522012-430
Must be replaced when reas-
sembling motor!
Must be replaced when
replacing motor
Must be replaced when
opening cover.
3HAC14972-1 Always use the removal tools
in pairs!
3HAC12342-1
3HAC15520-1 For guiding the motor.
3HAC15520-2 For guiding the motor.
Continues on next page
3HAC026876-001 Revision: F
Upper arm